ADASIS v3 Protocol Specifications 3.1.0.RC1.pdf

【实例截图】

【核心代码】

List of Figures
F IGURE 1 ADAS C ONCEPT AND C OMPONENTS ........................................................................................................... 12
F IGURE 2 A BSTRACTION OF R EAL W ORLD .................................................................................................................. 17
F IGURE 3 A BSTRACT VIEW OF A SIMPLE T- INTERSECTION ............................................................................................... 18
F IGURE 4 A BSTRACT VIEW OF A SIMPLE T- INTERSECTION IN HD MAPS ............................................................................... 18
F IGURE 5 P OSSIBLE WAYS TO BE CHOSEN BY THE DRIVER ................................................................................................ 18
F IGURE 6 A DIGITAL MAP WITH THE ROAD NETWORK AND A PATH SHOWING A UNIQUE ROUTE DRIVEN BY THE VEHICLE .................. 19
F IGURE 7 - A SIMPLIFIED REPRESENTATION OF VEHICLE PATHS BASED ON THE ROAD NETWORK . ............................................... 20
F IGURE 8 E XEMPLARY MAP ATTRIBUTES ALONG A ROUTE ............................................................................................... 21
F IGURE 9 R OAD NETWORK ..................................................................................................................................... 22
F IGURE 10 - AN E XEMPLARY NETWORK OF LINKS NEAR VEHICLE LOCATION ......................................................................... 22
F IGURE 11 R ELEVANT ROAD LINKS FOR ADAS H ORIZON ................................................................................................ 23
F IGURE 12 ADAS H ORIZON – P URE P ATH REPRESENTATION .......................................................................................... 24
F IGURE 13 ADASIS V 3 H ORIZON - O PTIMIZED P ATH R EPRESENTATION ............................................................................ 25
F IGURE 14 : ADASIS V 3 H ORIZON - A PPLICATION V IEW ............................................................................................... 26
F IGURE 15 ADASIS V 3 H ORIZON T OPOLOGY ............................................................................................................. 28
F IGURE 16 D IFFERENT I NTERPOLATION TYPES ............................................................................................................. 30
F IGURE 17 E XAMPLE FOR MULTIPLE PROFILE VALUES AT THE SAME OFFSET ......................................................................... 31
F IGURE 18 E XAMPLE OF A PROFILE WITH DISCONTINUOUS LINEAR INTERPOLATION ............................................................... 32
F IGURE 19 T IMESTAMP USED FOR A VEHICLE P OSITION INFORMATION .............................................................................. 34
F IGURE 20 L EFT : CURRENT PATH AND PREFERRED PATH ARE BOTH P 1. R IGHT : CURRENT PATH IS P 1 WHILE PREFERRED PATH IS P 3. T HE
PARENT - CHILD RELATIONSHIP FROM P 3 TO P 1 DESCRIBES THE MPP ......................................................................... 35
F IGURE 21 B ASIC STRUCTURE OF ADASIS V 3 S YSTEM .................................................................................................. 36
F IGURE 22 ADASIS V 2 DELETE PARENT PATH ( TRAILING LENGTH : 100 M ) .......................................................................... 39
F IGURE 23 ADASIS V 3 DELETE PARENT PATH ( PATH - DATA LIFETIME DEFINITION : 100 M BEHIND THE VEHICLE , PATH LIFETIME DEFINITION :
500 M BEHIND THE VEHICLE ) .......................................................................................................................... 40
F IGURE 24 V ALUE U PDATE O VERVIEW ..................................................................................................................... 42
F IGURE 25 E RASURE BY UPDATING TO N OT A VAILABLE .................................................................................................. 43
F IGURE 26 U PDATING THE END O FFSET ..................................................................................................................... 43
F IGURE 27 R ANGE UPDATE .................................................................................................................................... 44
F IGURE 28 R ANGE INVALIDATION ............................................................................................................................ 45
F IGURE 29 EHR F EEDBACK .................................................................................................................................... 47
F IGURE 30 C OEXISTENCE S CENARIO OF ADASIS V 2 AND V 3 H ORIZON P ROVIDERS .............................................................. 48
F IGURE 31 S INGLE AHP P ROVIDING ADASIS V 2 AND V 3 M ESSAGES ............................................................................... 49
F IGURE 32 S YSTEM D IAGRAM OF M ULTIPLE (C ORE AND A UXILIARY ) ADASIS V 3 H ORIZON P ROVIDERS .................................... 50
F IGURE 33 C ONCEPT OF M ULTIPLE (C ORE AND A UXILIARY ) ADASIS V 3 H ORIZON P ROVIDERS ................................................ 51
F IGURE 34 D OWNSTREAM S ENSOR F USION C ONCEPT ................................................................................................... 52
F IGURE 35 U PSTREAM S ENSOR F USION C ONCEPT ........................................................................................................ 52
F IGURE 36 G ENERAL ADASIS V 3 I NFORMATION F LOW ................................................................................................ 53
F IGURE 37 M ESSAGE SPECIFIC CYCLIC COUNTER INCREASES WITH EVERY NEW MESSAGE ......................................................... 58
F IGURE 38 M ISSING OR LOST MESSAGE IDENTIFIED DUE TO INTERRUPTED SEQUENCE OF CYCLIC COUNTER VALUES ........................ 58
F IGURE 39 R EORDERED MESSAGE SEQUENCE .............................................................................................................. 58
F IGURE 40 P ROFILE DATA INCLUDE VALIDITY LENGTH INFORMATION BASED ON OFFSET AND END O FFSET .................................... 58
F IGURE 41 P ROFILE DATA RANGE CHECK ALLOWS FOR GAP DETECTION .............................................................................. 59